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Merge branch 'master' of github.com:PX4/Firmware

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Lorenz Meier
2013-09-18 11:49:32 +02:00
parent 6624c8f1c4 210e7f9245
commit 626f433630
2 changed files with 13 additions and 5 deletions
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src/modules/commander/gyro_calibration.cpp
+8 -4
View File
@@ -163,7 +163,9 @@ int do_gyro_calibration(int mavlink_fd)
return ERROR;
}
mavlink_log_info(mavlink_fd, "offset calibration done.");
#if 0
/*** --- SCALING --- ***/
mavlink_log_info(mavlink_fd, "offset done. Rotate for scale 30x or wait 5s to skip.");
@@ -241,9 +243,14 @@ int do_gyro_calibration(int mavlink_fd)
}
float gyro_scale = baseline_integral / gyro_integral;
float gyro_scales[] = { gyro_scale, gyro_scale, gyro_scale };
warnx("gyro scale: yaw (z): %6.4f", (double)gyro_scale);
mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", (double)gyro_scale);
#else
float gyro_scales[] = { 1.0f, 1.0f, 1.0f };
#endif
if (isfinite(gyro_scales[0]) && isfinite(gyro_scales[1]) && isfinite(gyro_scales[2])) {
@@ -277,9 +284,6 @@ int do_gyro_calibration(int mavlink_fd)
warn("WARNING: auto-save of params to storage failed");
}
// char buf[50];
// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
// mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "gyro calibration done");
/* third beep by cal end routine */
src/modules/systemlib/param/param.c
+5 -1
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@@ -519,6 +519,10 @@ param_save_default(void)
int fd = open(param_get_default_file(), O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0) {
/* do another attempt in case the unlink call is not synced yet */
usleep(5000);
fd = open(param_get_default_file(), O_WRONLY | O_CREAT | O_EXCL);
warn("opening '%s' for writing failed", param_get_default_file());
return fd;
}
@@ -528,7 +532,7 @@ param_save_default(void)
if (result != 0) {
warn("error exporting parameters to '%s'", param_get_default_file());
unlink(param_get_default_file());
(void)unlink(param_get_default_file());
return result;
}